Quintic polynomial trajectory of biped robot for human-like walking

K., J.; Tewari, Ravi Prakash

doi:10.1109/isccsp.2014.6877888

Cited by 9 publications

(5 citation statements)

References 12 publications

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“…Its expression is as follows: (20) where and are the start and end points of the Bezier curve, and is the parameter, whose curves are shown in Figure 4. When the control point is 1, the fitted Bezier curve is a second-order curve, and its expression is as follows: (21) The and are the starting and ending points of the Bezier curve, and is the control point. The final expression is a conic, as shown in Figure 5.…”

Section: Use and Characteristics Of Bezier Curvementioning

confidence: 99%

“…There are also some other methods for generating gait models, such as using the Hybrid Zero Dynamics (HZD) model [14][15][16]. In addition to model-based methods, spline interpolation can also be used for gait generation, including methods such as cubic and quintic splines [17][18][19][20][21][22]. After gait generation, the Whole Body Control (WBC) and the Model Predictive Control (MPC) methods can be used for robot control [23][24][25][26][27][28][29][30][31].…”

Section: Introductionmentioning

confidence: 99%

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Bipedal Robot Gait Generation Using Bessel Interpolation

Wang,

Li,

Kou

et al. 2024

Biomimetics

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This paper introduces a novel approach to bipedal robot gait generation by proposing a higher-order form through the parameter equation of first-order Bessel interpolation. The trajectory planning for the bipedal robot, specifically for stepping up or down stairs, is established based on a three-dimensional interpolation equation. The experimental prototype, Roban, is utilized for the study, and the structural sketch of a single leg is presented. The inverse kinematics expression for the leg is derived using kinematic methods. Employing a position control method, the angle information is transmitted to the robot’s joints, enabling the completion of both downstairs simulation experiments and physical experiments with the Roban prototype. The analysis of the experimental process reveals a noticeable phenomenon of hip and ankle joint tilting in the robot. This observation suggests that low-cost bipedal robots driven by servo motors exhibit low stiffness characteristics in their joints.

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Section: Use and Characteristics Of Bezier Curvementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Bipedal Robot Gait Generation Using Bessel Interpolation

Wang,

Li,

Kou

et al. 2024

Biomimetics

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“…For example, for NAO robot locomotion Motoc et al(Motoc et al, 2014) use a cycloid trajectory to generate smooth motion, which is characterized with zero velocity at the beginning and at the end of the motion. Rai and Tewari (Rai and Tewari, 2014) use a polynomial interpolation to obtain a swing leg trajectory, assuming that robot's CoM movement is given. These approaches do not take into account joint constraints and obtained trajectories do not satisfy optimality from energy consumption point of view.…”

Section: Problem Statementmentioning

confidence: 99%

Swing Leg Trajectory Optimization for a Humanoid Robot Locomotion

Khusainov

Klimchik

Magid

2016

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics

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The problem of walking trajectory optimisation for bipedal humanoid robots attracts many researchers because of excessive interest to bipedal locomotion. The main focus is usually on robot dynamics and trajectory planning for predefined walking primitives. In contrast to other works, our paper targets to obtain optimal walking primitive for swing leg trajectory of bipedal humanoid robot walking. Optimal walking primitives are obtained taking into account velocity and acceleration physical limitations of each joint and are derived for different walking parameters such as step size and hip height. To obtain a desired time-optimal trajectory dynamic programing approach is used. It is shown that a new trajectory is performed within a shorter time comparing with commonly used locomotion trajectories for bipedal robots control. The results allow us to assign walking parameters and corresponding walking primitive that maximize robot velocity for predefined environment constraints.

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Section: Introductionmentioning

confidence: 99%

“…The quintic polynomial interpolation method has been applied to the transition angle of the curve in order to achieve smooth transitions of robot motion. Despite these improvements, problems still exist such as complex calculations and low efficiency (Rai et al, 2014). Chen et al uses an uniform cubic B-splines method as a planning function and while this method ensures consistency of the joint angle, angular velocity and acceleration, it is computationally expensive and the functional equations highly complex (Chen, 1991 Xiang, Xie and Lu, Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol.12, No.1 (2018) as fuzzy algorithm (Peng et al, 2015), genetic algorithm (Deng et al,2013) and neural network (Simon and Max, 2000) have also been used to improve the planning efficiency, however each has its own limitations and drawbacks.…”

mentioning

confidence: 99%

An optimal trajectory control strategy for underwater welding robot

Xiang

Xie

2018

JAMDSM

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The underwater welding robots are replacing humans in several harsh working environments however further strategies are required to achieve better control of robotic motion in order to extend their utility. This paper presents a smooth trajectory control strategy to improve the welding quality and efficiency using an underwater welding robot to perform the arc welding process. First, a mathematical model of the underwater welding robot is established using the D-H parameter method. Second kinematics equations for the movement of the robot are deduced. To improve the accuracy of the trajectory, the tool coordinate system is calibrated using the six-point method. Finally, linear interpolation with parabolic transition is combined with a six-dimensional space vector to develop a Cartesian space trajectory planning for the robot, which can ensure a smooth welding process. The results show that by using the above control strategy for underwater welding experiments, a smooth welding seam is achieved, which improves the weld quality and shortens the time taken to complete the weld. Keywords : IntroductionThe underwater welding robot is a device that can be moved underwater with a visual and perceptual system, which can replace humans in underwater operating environments. Under the underwater welding process of robot, the motion parameters and welding parameters of underwater welding robot need to be adjusted to adapt to the underwater environment due to the influence of water environment and underwater pressure. At present, underwater welding robots are used to complete a number of dangerous operations (Rowe and Liu, 2001); however the tasks that can be performed are limited due to the complexity of the underwater environment. As such, current robotic welding systems are mainly used for non-destructive testing of welds and crack repairs (Labanowski, 2011). More widespread use will require greater control over trajectory planning. In this study, the trajectory planning of an existing underwater welding robot is investigated with the aim of improving its accuracy. Welding robot trajectory planning allows the robot to move from an initial position to a target location of the process smoothly and at a certain speed and acceleration, within a certain timeframe. Two methods for trajectory planning exist: joint space planning and Cartesian space planning (Nardenio and Douglas, 2008). The former method has been used extensively in industrial robotics systems but presents a number of disadvantages.Joint space planning based on cubic polynomial interpolation has been applied to determine the position and velocity of the manipulator. However it does not take into account continuous planning of acceleration (Liu et al., 2013). The quintic polynomial interpolation method has been applied to the transition angle of the curve in order to achieve smooth transitions of robot motion. Despite these improvements, problems still exist such as complex calculations and low efficiency (Rai et al., 2014). Chen et al uses an uniform cu...

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Quintic polynomial trajectory of biped robot for human-like walking

Cited by 9 publications

References 12 publications

Bipedal Robot Gait Generation Using Bessel Interpolation

Bipedal Robot Gait Generation Using Bessel Interpolation

Swing Leg Trajectory Optimization for a Humanoid Robot Locomotion

An optimal trajectory control strategy for underwater welding robot

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